# Examples

Programs from the repository's `GUI/files/Programs` folder and the documentation. Paste one into the program
window, read it against the simulator, and press Start. The speed slider does not slow a program: for a first
run, lower `v=` or raise `t=` in the moves.

## A joint-space loop

Two poses, back and forth, with a timed first move.

```
Begin()
Delay(1)
MoveJoint(85.078,-111.195,143.513,-32.92,18.084,129.448,t=3)
Delay(1)
MoveJoint(66.129,-117.368,136.77,46.28,-29.588,149.293)
Delay(1)
Loop()
```

## Cartesian moves in the world frame

A joint move to a start pose, then straight-line moves: translations first, then changes of orientation. Watch
the simulator to see the tool follow.

```
Begin()
Delay(1)
MoveJoint(90.0,-90.0,180.001,0.0,0.0,180.0,t=4)
Delay(1)
MoveCart(0.0,263.23,161.241,-90.0,0.0,-89.499)
Delay(1)
MoveCart(81.565,262.804,161.047,-90.135,-0.029,-89.578)
Delay(1)
MoveCart(81.649,194.981,160.077,-90.14,-0.043,-89.593)
Delay(1)
MoveCart(83.598,194.356,161.493,-91.155,1.306,-80.28)
Delay(1)
MoveCart(84.56,194.131,162.347,-48.387,1.261,-80.188)
Delay(1)
MoveCart(82.89,191.698,162.369,-40.587,26.026,-107.028)
Delay(1)
End()
```

The `MoveCart` lines have no `t=`, so each takes 3.6 s whatever its length ([MoveCart](https://docs.source-robotics.com/PAROL-docs/1.1/programming/03-commander/rbtscript/#movecart)).
Give the long ones a `t=` for a slower first run.

## A move relative to the tool

80 mm back along the tool's X axis, from the start pose the program moves to first.

```
Begin()
Delay(1)
MoveJoint(90.0,-90.0,180.001,0.0,0.0,180.0,t=4)
Delay(1)
MoveCartRelTRF(-80,0,0,0,0,0)
Delay(1)
End()
```

## Pick and place with the gripper

From the repository: a joint move over the part, a Cartesian descent, a grip, a transfer and a release. Note the
delays after each gripper command.

```
Begin()
Delay(1)
MoveJoint(89.209,-35.021,174.356,-1.463,-28.645,85.972,t=4)
Delay(1)
Gripper(255,20,120)
Delay(2)
MoveCart(-40.499,298.455,131.712,6.081,-0.739,-179.276)
MoveJoint(15.478,-56.126,178.673,-0.928,-54.084,85.5)
Delay(1)
Gripper(0,100,120)
MoveJoint(89.033,-49.402,174.486,-1.027,-43.341,85.596)
MoveCart(-41.535,300.316,17.635,6.141,-0.686,-179.224)
Delay(1)
Gripper(255,100,1000)
Delay(1)
MoveCart(-40.499,298.455,131.712,6.081,-0.739,-179.276)
MoveJoint(15.478,-56.126,178.673,-0.928,-54.084,85.5)
Gripper(0,100,100)
Delay(1)
End()
```

Before you run it:

- It does not calibrate the gripper: clear the gripper's error and calibrate it in the Gripper tab first.
- `Gripper(255,20,120)`, `Gripper(0,100,120)` and `Gripper(0,100,100)` ask for 120 or 100 mA, below the about
  150 mA the gripper needs to move: raise the current to at least 150 mA.
- `Gripper(255,100,1000)` grips at 1000 mA and speed 100. Above about 700 mA, keep the speed low, or lower the
  current ([Gripper](https://docs.source-robotics.com/PAROL-docs/1.1/programming/03-commander/rbtscript/#gripper)).
- The `MoveCart` lines have no `t=` and take 3.6 s each.

## Gripper test

Calibration, a few open and close cycles, then a small joint move and a Cartesian move.

```
Begin()
Gripper_cal()
Delay(3)
Gripper(100,60,600)
Delay(2)
Gripper(200,60,600)
Delay(2)
MoveJoint(85.192,-104.451,158.769,-1.983,-46.491,179.899,t=6)
Delay(1)
MoveCart(4.317,103.384,192.319,-84.465,1.447,-143.154)
Gripper(100,60,600)
Delay(2)
End()
```

Clear the gripper's error in the Gripper tab before you start it. `Delay(3)` is just the SSG-48's calibration time;
`Delay(4)` leaves a margin, and the MSG needs `Delay(7)`. The `MoveCart` has no `t=` and takes 3.6 s.

## Toggling an output

A pneumatic gripper, or a lamp, once a second, forever.

```
Begin()
Output(1,HIGH)
Delay(1)
Output(1,LOW)
Delay(1)
Loop()
```

## A dance

Timed joint and Cartesian moves in quick succession: `example_dance_2.txt` in the repository, for a demo once the
robot is known to run every pose in it.